Vincent De Sapio

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Generating coordinated natural motion in human-like robotic structures has proved to be a challenging task. Given that humans easily solve this problem, we propose a methodology to devise the underlying strategies of human movement and apply them for robotic control. We use this approach to examine how humans utilize their muscles while performing(More)
We present a new muscle effort criteria for predicting physiologically accurate upper limb motion in human subjects based on skeletal kine-matics, muscle routing kinematics, and muscle strength characteristics. The new criteria properly accounts for the cross-joint coupling associated with the routing kinematics of multi-articular muscles. We also employ a(More)
Understanding the basis of human movement and reproducing it in robotic environments is a compelling challenge that has engaged a multidisciplinary audience. In addressing this challenge, an important initial step involves reconstructing motion from experimental motion capture data. To this end we propose a new algorithm to reconstruct human motion from(More)
This paper presents an operational space control approach for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is addressed using multiplier and minimization approaches. The constrained dynamics problem is interpreted with respect to its underlying symmetry(More)
A task-level control framework is proposed for providing feedback control in the simulation of goal-directed human motion. An operational space approach, adapted from the field of robotics, is used for this purpose. This approach is augmented by a significant new extension directed at addressing the control of muscle-driven systems. Task/posture(More)
This paper presents a task-level control methodology for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is reviewed with respect to multiplier and minimization approaches. Subsequently, the operational space framework is considered and the underlying(More)
This paper applies a task-level approach to the control of holonomically constrained shoulder models. These models include a biomechanical representation based on human physiology and a robotic design based on a parallel-serial structure. Both models involve complex kinematically coupled motion between the shoulder girdle and the humerus. This coupled(More)
Least action principles provide an insightful starting point from which problems involving constraints and task-level objectives can be addressed. In this paper, the principle of least action is first treated with regard to holonomic constraints in multibody systems. A variant of this, the principle of least curvature or straightest path, is then(More)
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Improved resource utilization and fault tolerance of large-scale HPC systems can be achieved through fine-grained, intelligent, and dynamic resource (re)allocation. We explore components and enabling technologies applicable to creating a system to provide this capability: specifically 1) Scalable fine-grained monitoring and analysis to inform resource(More)